Drake
controlled_kuka_demo.cc File Reference

This demo sets up a position controlled and gravity compensated KUKA iiwa robot within a simulation to follow an arbitrarily designed plan. More...

Include dependency graph for controlled_kuka_demo.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::kuka_iiwa_arm
 

Functions

 DEFINE_double (simulation_sec, 0.1,"Number of seconds to simulate.")
 
int main (int argc, char *argv[])
 

Detailed Description

This demo sets up a position controlled and gravity compensated KUKA iiwa robot within a simulation to follow an arbitrarily designed plan.

The generated plan takes the arm from the zero configuration to reach to a position in space and then repeat this reaching task with a different joint configuration constraint.

Function Documentation

DEFINE_double ( simulation_sec  ,
0.  1,
"Number of seconds to simulate."   
)
int main ( int  argc,
char *  argv[] 
)

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